This is a flaw in your vehicle's manufacturer implementation of the Bluetooth, some people have this issue, some people don't. I really depends on the car you drive. However, you want to make sure you have "Prefer Bluetooth" turned on in the sound settings in Waze.

In my car for example, bluetooth is seen as a phone communications relay but can be used to stream audio as well. As you stated, waze works fine when streaming audio to your sound systems via a constant connection. However, when you are listening to FM radio, there is no constant connection so the connection needs to be initiated much like it does when you receive a phone call, because of this, it causes a delay in the relay likely causing this issue.

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When i am in the car, listening to music from my phone (android) streaming with BT to the car stereo the navigation voice is as a media stream.No problems there.But when BT is connected and i am listening to the FM radio there is no navigation voice.As far as i understand it has to do with what the stream is.So the media stream is not allowed to get over the FM radio, but for example notification stream and alarm stream is.Both streams will also work when listening to media from my phone.

If i use the to speaker option the sound gets muted by my carkit, and its way to soft.

I have already a app with this option and it works great.Can u make this available as a option for example? So u can get the navigation voice as alarm/notification/ringtone/media stream.